In a speech to Ghana's parliament, the Queen said Ghana had been at the forefront of "the renaissance in Africa of democratic values".

She said: "An open society, a free media, a truly independent judiciary and a democratically-chosen, accountable executive, provide the conditions under which the equality of opportunity, initiative, and a stable society can flourish."

Many cheered her comments, but the Queen seemed thrown for several seconds when some politicians voiced their discomfort with her pro-democracy sentiments.

The Queen and Prince Philip last visited Ghana in 1961 - four years after the country gained independence.

Since then, coups, insurrection and years of military rule have taken a heavy toll, while a gold mining crisis has pushed the government to seek foreign help to salvage its economy. After her speech, the Queen met pupils and staff at a junior school receiving British aid while Prince Philip visited a factory making anti-malaria tablets and soap.

Philip also visited Tema, which is situated on the Meridian Line and is twinned with Greenwich, before opening a Peacekeeping Library at the partly British-sponsored Ghana Armed Forces Command Staff College.

Following their afternoon engagements, the visiting Royals were guests of honour at a state banquet which saw the State Banqueting Hall was decorated in the style of an ancient Ashanti palace.

The royal couple are not expected to see the incoming king, Otumfuo Osei Tutu II, during their visit, as he is still in an official period of mourning for his predecessor, who died on 25 February.